// Copyright 2011 The Avalon Project Authors. All rights reserved.
// Use of this source code is governed by the Apache License 2.0
// that can be found in the LICENSE file.
// Steffen Grundmann, July 2011
#ifndef SKIPPER_PLANS_H
#define SKIPPER_PLANS_H

#include "skipper/target_circle_cascade.h"


typedef const TargetCirclePoint TCP;
const TargetCirclePoint toulon_plan[] = {
TCP( 43.0531,     5.95,    0.027),
TCP( 43.0457,  5.96772,    0.027),
TCP( 43.0382,  5.98545,    0.027),
TCP( 43.0307,  6.00317,    0.027),
TCP( 43.0232,   6.0209,    0.027),
TCP( 43.0157,  6.03862,    0.027),
TCP( 43.0082,  6.05635,    0.027),
TCP( 43.0007,  6.07407,    0.027),
TCP( 42.9932,  6.09179,    0.027),
TCP( 42.9858,  6.10952,    0.027),
TCP( 42.9783,  6.12724,    0.027),
TCP( 42.9708,  6.14497,    0.027),
TCP( 42.9633,  6.16269,    0.027),
TCP( 42.9558,  6.18042,    0.027),
TCP( 42.9483,  6.19814,    0.027),
TCP( 42.9501,  6.21689,    0.027),
TCP( 42.9519,  6.23565,    0.027),
TCP( 42.9536,   6.2544,    0.027),
TCP( 42.9554,  6.27315,    0.027),
TCP( 42.9572,   6.2919,    0.027),
TCP(  42.959,  6.31066,    0.027),
TCP( 42.9607,  6.32941,    0.027),
TCP( 42.9625,  6.34816,    0.027),
TCP( 42.9643,  6.36691,    0.027),
TCP( 42.9661,  6.38567,    0.027),
TCP( 42.9678,  6.40442,    0.027),
TCP( 42.9696,  6.42317,    0.027),
TCP( 42.9714,  6.44192,    0.027),
TCP( 42.9732,  6.46068,    0.027),
TCP( 42.9749,  6.47943,    0.027),
TCP( 42.9834,   6.4974,    0.027),
TCP( 42.9918,  6.51538,    0.027),
TCP( 43.0002,  6.53335,    0.027),
TCP( 43.0087,  6.55132,    0.027),
TCP( 43.0171,  6.56929,    0.027),
TCP( 43.0255,  6.58727,    0.027),
TCP(  43.034,  6.60524,    0.027),
TCP( 43.0424,  6.62321,    0.027),
TCP( 43.0508,  6.64119,    0.027),
TCP( 43.0593,  6.65916,    0.027),
TCP( 43.0677,  6.67713,    0.027),
TCP( 43.0761,   6.6951,    0.027),
TCP( 43.0846,  6.71308,    0.027),
TCP(  43.093,  6.73105,    0.027),
TCP( 43.1014,  6.74902,    0.027),
TCP( 43.1099,  6.76699,    0.027),
TCP( 43.1183,  6.78497,    0.027),
TCP( 43.1267,  6.80294,    0.027),
TCP( 43.1352,  6.82091,    0.027),
TCP( 43.1436,  6.83889,    0.027),
TCP(  43.152,  6.85686,    0.027),
TCP( 43.1605,  6.87483,    0.027),
TCP( 43.1689,   6.8928,    0.027),
TCP( 43.1773,  6.91078,    0.027),
TCP( 43.1858,  6.92875,    0.027),
TCP( 43.1942,  6.94672,    0.027),
TCP( 43.2027,   6.9647,    0.027),
TCP( 43.2111,  6.98267,    0.027),
TCP( 43.2195,  7.00064,    0.027),
TCP(  43.228,  7.01861,    0.027),
TCP( 43.2364,  7.03659,    0.027),
TCP( 43.2448,  7.05456,    0.027),
TCP( 43.2533,  7.07253,    0.027),
TCP( 43.2617,   7.0905,    0.027),
TCP( 43.2701,  7.10848,    0.027),
TCP( 43.2786,  7.12645,    0.027),
TCP(  43.287,  7.14442,    0.027),
TCP( 43.2954,   7.1624,    0.027),
TCP( 43.3039,  7.18037,    0.027),
TCP( 43.3123,  7.19834,    0.027),
TCP( 43.3207,  7.21631,    0.027),
TCP( 43.3292,  7.23429,    0.027),
TCP( 43.3376,  7.25226,    0.027),
TCP( 43.3263,  7.26422,    0.027),
TCP(  43.315,  7.27618,    0.027),
TCP( 43.3038,  7.28814,    0.027),
TCP( 43.2925,   7.3001,    0.027),
TCP( 43.2812,  7.31206,    0.027),
TCP( 43.2699,  7.32402,    0.027),
TCP( 43.2587,  7.33598,    0.027),
TCP( 43.2474,  7.34794,    0.027),
TCP( 43.2361,   7.3599,    0.027),
TCP( 43.2214,   7.3643,    0.027),
TCP( 43.2067,   7.3687,    0.027),
TCP(  43.192,   7.3731,    0.027),
TCP( 43.1773,  7.37751,    0.027),
TCP( 43.1626,  7.38191,    0.027),
TCP( 43.1479,  7.38631,    0.027),
TCP(  43.142,  7.36695,    0.027),
TCP( 43.1361,  7.34759,    0.027),
TCP( 43.1302,  7.32823,    0.027),
TCP( 43.1243,  7.30887,    0.027),
TCP( 43.1184,  7.28951,    0.027),
TCP( 43.1124,  7.27015,    0.027),
TCP( 43.1065,  7.25079,    0.027),
TCP( 43.1006,  7.23143,    0.027),
TCP( 43.0947,  7.21207,    0.027),
TCP( 43.0888,  7.19271,    0.027),
TCP( 43.0829,  7.17335,    0.027),
TCP(  43.077,  7.15399,    0.027),
TCP( 43.0711,  7.13463,    0.027),
TCP( 43.0651,  7.11527,    0.027),
TCP( 43.0592,  7.09591,    0.027),
TCP( 43.0533,  7.07655,    0.027),
TCP( 43.0474,  7.05719,    0.027),
TCP( 43.0415,  7.03783,    0.027),
TCP( 43.0356,  7.01847,    0.027),
TCP( 43.0297,  6.99911,    0.027),
TCP( 43.0237,  6.97975,    0.027),
TCP( 43.0178,  6.96039,    0.027),
TCP( 43.0119,  6.94103,    0.027),
TCP(  43.006,  6.92166,    0.027),
TCP( 43.0001,   6.9023,    0.027),
TCP( 42.9942,  6.88294,    0.027),
TCP( 42.9883,  6.86358,    0.027),
TCP( 42.9824,  6.84422,    0.027),
TCP( 42.9764,  6.82486,    0.027),
TCP( 42.9705,   6.8055,    0.027),
TCP( 42.9646,  6.78614,    0.027),
TCP( 42.9587,  6.76678,    0.027),
TCP( 42.9528,  6.74742,    0.027),
TCP( 42.9469,  6.72806,    0.027),
TCP(  42.941,   6.7087,    0.027),
TCP(  42.935,  6.68934,    0.027),
TCP( 42.9291,  6.66998,    0.027),
TCP( 42.9232,  6.65062,    0.027),
TCP( 42.9173,  6.63126,    0.027),
TCP( 42.9114,   6.6119,    0.027),
TCP( 42.9055,  6.59254,    0.027),
TCP( 42.8996,  6.57318,    0.027),
TCP( 42.8937,  6.55382,    0.027),
TCP( 42.8877,  6.53446,    0.027),
TCP( 42.8818,   6.5151,    0.027),
TCP( 42.8759,  6.49574,    0.027),
TCP(   42.87,  6.47638,    0.027),
TCP(  42.868,   6.4577,    0.027),
TCP(  42.866,  6.43902,    0.027),
TCP(  42.864,  6.42033,    0.027),
TCP(  42.862,  6.40165,    0.027),
TCP(   42.86,  6.38297,    0.027),
TCP(  42.858,  6.36429,    0.027),
TCP(  42.856,  6.34561,    0.027),
TCP(  42.854,  6.32692,    0.027),
TCP(  42.852,  6.30824,    0.027),
TCP(   42.85,  6.28956,    0.027),
TCP(  42.848,  6.27088,    0.027),
TCP(  42.846,   6.2522,    0.027),
TCP(  42.844,  6.23351,    0.027),
TCP(  42.842,  6.21483,    0.027),
TCP(   42.84,  6.19615,    0.027),
TCP(   42.85,  6.18079,    0.027),
TCP(   42.86,  6.16543,    0.027),
TCP(   42.87,  6.15006,    0.027),
TCP(   42.88,   6.1347,    0.027),
TCP(   42.89,  6.11934,    0.027),
TCP(    42.9,  6.10398,    0.027),
TCP(   42.91,  6.08862,    0.027),
TCP(   42.92,  6.07325,    0.027),
TCP(   42.93,  6.05789,    0.027),
TCP(   42.94,  6.04253,    0.027),
TCP(   42.95,  6.02717,    0.027),
TCP(   42.96,  6.01181,    0.027),
TCP(   42.97,  5.99644,    0.027),
TCP(   42.98,  5.98108,    0.027),
TCP(   42.99,  5.96572,    0.027),
TCP( 42.9767,  5.96372,    0.027),
TCP( 42.9633,  5.96172,    0.027),
TCP(   42.95,  5.95972,    0.027),
TCP( 42.9366,  5.95772,    0.027),
TCP( 42.9233,  5.95572,    0.027),
TCP( 42.9233,  5.93978,    0.027),
TCP( 42.9233,  5.92385,    0.027),
TCP( 42.9233,  5.90791,    0.027),
TCP( 42.9233,  5.89197,    0.027),
TCP( 42.9233,  5.87604,    0.027),
TCP( 42.9233,   5.8601,    0.027),
TCP(   42.94,    5.861,    0.027),
TCP( 42.9566,   5.8619,    0.027),
TCP( 42.9733,   5.8628,    0.027),
TCP(   42.99,   5.8637,    0.027),
TCP( 43.0067,   5.8646,    0.027),
TCP( 43.0233,   5.8655,    0.027),
TCP(   43.04,   5.8664,    0.027),
TCP(       0,         0,         0)};  // end marker

const TargetCircle toulon_target(43.0531,     5.95,    0.027);

// Start Mallorca plan if we are less than 5000m from the start point near Toulon away.
// const TargetCircle toulon(43.0392,   5.9847,   0.045 );
// final point 20km EastNorthEast of Port d'Alicudia, Mallorca, Spain
// const TargetCircle mallorca_target(39.9202,   3.3155,    0.018);

#endif  // SKIPPER_PLANS_H
